CN115009864A - Feeding and discharging method and device, electronic equipment and storage medium - Google Patents
Feeding and discharging method and device, electronic equipment and storage medium Download PDFInfo
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- CN115009864A CN115009864A CN202210611693.2A CN202210611693A CN115009864A CN 115009864 A CN115009864 A CN 115009864A CN 202210611693 A CN202210611693 A CN 202210611693A CN 115009864 A CN115009864 A CN 115009864A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention discloses a loading and unloading method and device, electronic equipment and a storage medium. The method comprises the following steps: judging whether a tray to be placed exists or not; if so, constructing first loading tool information; placing a first material loading tool to a tray to be placed, and adding information of the first material loading tool to the information of the first tray so as to update stacking information of target stacking corresponding to the tray to be placed; judging whether the stacking and feeding operation corresponding to the target stacking is finished or not; and if so, transmitting the target stacking information to the blanking mechanism so as to execute stacking and blanking operation according to the target stacking information. By operating the technical scheme provided by the embodiment of the invention, the problem that the trays are accumulated to obtain the stack during feeding can be solved; when unloading, the manipulator carries out article to the pile up neatly layer by layer and takes out the operation, leads to not having article in this layer and still can accomplish whole article and take out the action, has reduced the problem of last unloading efficiency, has obtained the beneficial effect that improves the accuracy and the efficiency of unloading.
Description
Technical Field
The present invention relates to loading and unloading technologies, and in particular, to a method and an apparatus for loading and unloading, an electronic device, and a storage medium.
Background
With the development of automation technology, a manipulator is generally controlled to automatically perform feeding and discharging. In the prior art, articles are usually directly placed in a designated tray during feeding, and the trays are accumulated to obtain stacking; when unloading, the manipulator carries out article to the pile up neatly layer by layer and takes out the operation, leads to even do not have article in this layer and still can accomplish whole article and take out the action, has reduced last unloading efficiency.
Disclosure of Invention
The invention provides a loading and unloading method, a loading and unloading device, electronic equipment and a storage medium, and aims to improve the accuracy and efficiency of loading and unloading.
According to an aspect of the invention, a loading and unloading method is provided, which comprises the following steps:
judging whether a tray to be placed exists or not; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed;
placing the first material loading tool to the tray to be placed, and adding the first material loading tool information to first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed;
judging whether the stacking and feeding operation corresponding to the target stacking is finished or not according to the placing state of the tray to be placed and the target stacking information;
and if so, transmitting the target stacking information to a blanking mechanism so that the blanking mechanism executes stacking and blanking operation according to the target stacking information.
According to another aspect of the present invention, there is provided a loading and unloading apparatus, including:
the tool information construction module is used for judging whether a tray to be placed exists or not; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed;
the tool information adding module is used for placing the first loading tool on the tray to be placed and adding the first loading tool information to first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed;
the operation execution completion judging module is used for judging whether the stacking and feeding operation corresponding to the target stacking is completed according to the placing state of the tray to be placed and the target stacking information;
and the information transmission module is used for transmitting the target stacking information to the blanking mechanism if the operation execution completion judgment module judges that the operation execution completion judgment module is yes, so that the blanking mechanism executes stacking and blanking operations according to the target stacking information.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the loading and unloading method according to any embodiment of the invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the method according to any one of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, whether the tray to be placed exists is judged; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed; placing the first material loading tool to the tray to be placed, and adding the first material loading tool information to first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed; judging whether the stacking and feeding operation corresponding to the target stacking is finished or not according to the placing state of the tray to be placed and the target stacking information; and if so, transmitting the target stacking information to a blanking mechanism so that the blanking mechanism executes stacking and blanking operation according to the target stacking information. The problem that when materials are loaded, objects are directly placed in a designated tray, and the trays are accumulated to obtain stacking is solved; when unloading, the manipulator carries out article to the pile up neatly and takes out the operation, leads to not having article in this layer and still can accomplish whole article and take out the action, has reduced the problem of unloading efficiency, has gained the beneficial effect that improves the accuracy and the efficiency of unloading.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
Fig. 1 is a flowchart of a loading and unloading method according to an embodiment of the present invention;
fig. 2 is a schematic view of a pallet layer in target palletizing according to an embodiment of the present invention;
fig. 3 is a flowchart of a loading and unloading method according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a loading and unloading device provided in the third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device for implementing an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a loading and unloading method according to an embodiment of the present invention, where the method is applicable to a situation where loading and unloading are performed automatically by a manipulator, and the method can be executed by the loading and unloading apparatus provided in the embodiment of the present invention, and the apparatus can be implemented by software and/or hardware. Referring to fig. 1, the loading and unloading method provided in this embodiment includes:
s110, judging whether a tray to be placed exists or not; and if so, establishing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed.
The tray to be placed is used for placing objects, the tray which is located at the topmost layer in the current stacking can be a tray with a vacant position, and the tray can also be a tray which is associated with the objects to be placed, for example, the next object to be placed needs to be placed on the fifth layer tray, the current tray is the fourth layer, and the current tray is not the tray to be placed.
And judging whether the tray to be placed exists or not, wherein the judgment can be whether the tray information corresponding to the tray to be placed exists or not, and if so, determining that the tray to be placed exists. For example, if the tray to be placed is a tray with an empty position, it is determined whether information of a topmost tray including the empty position to be placed exists.
If the tray to be placed exists, first loading tool information of the first loading tool is constructed according to the first loading tool corresponding to the tray to be placed, wherein the loading tool is used for loading articles, and the first loading tool is the loading tool corresponding to the tray to be placed. The material carrying tool corresponding to the tray to be placed can be a material carrying tool with a preset corresponding relation; the material loading tools can also be determined according to the taking sequence of the material loading tools, for example, 9 material loading tools can be placed on the tray to be placed, the manipulator sequentially takes the material loading tools 11-19 according to the taking sequence of the material loading tools, and then the material loading tools 11-19 are first material loading tools.
The first loading tool feature, such as a loading tool number, can be obtained by identifying a unique tool identifier, such as a two-dimensional code, carried by the first loading tool. And constructing first loading tool information according to the first loading tool characteristics, wherein the first loading tool information contains the first loading tool characteristics and conforms to a preset format.
In this embodiment, optionally, after determining whether there is a tray to be placed, the method further includes:
if not, placing the current tray in the target stacking;
judging whether the current tray is an initial tray or not according to the target stacking information;
and if not, adding the current tray information into the target stacking information according to the current tray information for constructing the current tray.
And if the tray to be placed does not exist, placing the current tray in the target code stack through the manipulator, wherein the current tray can be a blank tray and is used for subsequently loading a corresponding material loading tool. And judging whether the current tray is the initial tray or not according to the target stacking information, wherein if any tray information does not exist in the target stacking information, the current tray is indicated as the initial tray.
If the current tray is not the initial tray, constructing current tray information of the current tray, wherein the current tray comprises characteristic information of the current tray, such as a tray number obtained by scanning the current tray; the device also can comprise an information vacancy of the loading tool information, so that the loading tool information can be added conveniently in the follow-up process.
And the information format of the current tray information accords with the preset format corresponding to the target stacking information, so that the current tray information is conveniently and directly added into the target stacking information, and the target stacking information comprises the tray information of the tray in the target stacking.
And after the current tray information is added into the target stacking information, determining the current tray as a tray to be placed, so as to execute the subsequent operation after the tray to be placed exists.
If the tray to be placed does not exist in the judgment, the tray is placed in time, and the feeding efficiency is improved. And judging whether the current tray is an initial tray or not according to the target stacking information, if not, adding the current tray information into the target stacking information according to the current tray information for constructing the current tray, so that the target stacking information is updated in time, the accuracy and the effectiveness of the target stacking information are improved, and the subsequent stacking and blanking operation is conveniently carried out according to the target stacking information.
In this embodiment, optionally, after determining whether the current tray is an initial tray according to the target stacking information, the method further includes:
and if so, constructing the target stacking information according to the current tray.
If the current tray is judged to be the initial tray, the current tray is only present in the target stacking, and the target stacking information is constructed according to the current tray, for example, the number information corresponding to the current tray is determined as the file name of the target stacking, so that the efficiency of constructing the target stacking information is improved; the target stacking information can be stored in the tool identification corresponding to the initial tray, so that the target stacking information can be conveniently known through the identification of the initial tray, and the acquisition efficiency of the target stacking information is improved.
S120, placing the first loading tool to the tray to be placed, and adding the first loading tool information to first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; and the target stacking information is the stacking information of the target stacking corresponding to the tray to be placed.
The first material loading tool is placed to the tray to be placed through the manipulator, and the first material loading tool information is added to the first tray information corresponding to the tray to be placed, wherein the first tray information is the tray information constructed in advance for the tray to be placed, the characteristic information of the tray to be placed is included, for example, the tray number is included, the material loading tool information placed in the tray to be placed is included, the position information of the specific position of the material loading tool in the tray can be included, and the embodiment does not limit the position information.
The first loading tool information is added into the first tray information corresponding to the tray to be placed, so that the first tray information is updated, namely the first loading tool is added to the members of the tray to be placed.
The target stack is a stack including a tray to be placed, the first tray information is included in the target stack information, the target stack information is stack information of the target stack, and includes characteristic information of the target stack, such as a stack number, and also includes tray information of at least one layer of trays included in the target stack, and may also include position information of a specific position of the tray in the target stack, which is not limited in this embodiment.
The pallet information of each layer of pallets is contained in the target stacking information, namely the pallets are members of the target stacking; and updating the target stacking information by updating the first tray information.
S130, judging whether the stacking and feeding operation corresponding to the target stacking is finished or not according to the placing state of the tray to be placed and the target stacking information.
Wherein, the state of placing can be for waiting to place the tray and whether fill up, also can be for waiting to place the first year material instrument that the tray corresponds and whether place and finish, and this embodiment does not restrict this.
Whether the stacking feeding operation corresponding to the target stacking is executed is judged according to the placement state, when the placement state meets a preset condition, the feeding operation corresponding to the trays to be placed is determined to be executed, the feeding operation corresponding to the trays with the preset number is determined to be executed completely according to the tray information, and the stacking feeding operation corresponding to the target stacking is determined to be executed completely.
And S140, if so, transmitting the target stacking information to a blanking mechanism so that the blanking mechanism executes stacking and blanking operations according to the target stacking information.
If the stacking feeding operation is finished, the flow-out feeding mechanism of the stacking machine can be informed to the production line, and the target stacking information is transmitted to the discharging mechanism, so that when the subsequent target stacking is conveyed to the discharging mechanism, the discharging mechanism performs stacking discharging operation on the target stacking according to the target stacking information. For example, the position of the article to be taken is determined according to the target stacking information, and blanking operation and the like are carried out according to the position. The feeding mechanism is a mechanism for performing a feeding operation, and includes, for example, a robot, a control system for controlling the operation of the robot, and the like.
In this embodiment, optionally, judging whether the stacking loading operation corresponding to the target stacking is completed according to the placement state of the tray to be placed and the target stacking information includes:
judging whether the placing state is placing completion;
if so, judging whether the number of layers of the tray where the tray to be placed is located meets a preset number-of-layers threshold value according to the target stacking information;
and if so, determining that the stacking and feeding operation is finished.
Judging whether the placing state is placing completion; if so, judging whether the number of layers of the tray where the tray to be placed is located meets a preset number of layers threshold, for example, the preset number of layers threshold is 20, judging whether the number of layers of the tray to be placed is 20, and judging whether the number of layers information in the target stacking information is 20. For example, every time one tray information is added to the target stacking information, the number of layers is added by one to obtain the number of layers corresponding to the latest tray corresponding to the target stacking.
If so, determining that the target stacking and feeding are finished; if not, continuously placing a new tray to be placed, constructing tray information of the tray, and adding the tray information to the target stacking information.
Judging whether the number of layers of the tray where the tray to be placed is located meets a preset number-of-layers threshold value or not according to the target stacking information; and if so, determining that the target stacking and feeding are finished. Therefore, the problem that whether the feeding is finished or not and the detection precision is low due to the fact that the number of layers of the stacking is detected through a newly added sensor is solved, the feeding finishing detection cost is reduced, and the feeding finishing judgment accuracy is improved.
Fig. 2 is a schematic view of a pallet layer in target palletizing according to an embodiment of the present invention. As shown in fig. 2, the pallet layer includes nine carriers 21 placed in a pallet 22, and each carrier 21 carries six carrier articles 20. The number and position of the loading tools and the carried objects in each tray layer can be different, and the target stacking is formed by stacking a plurality of tray layers.
According to the technical scheme provided by the embodiment, whether the tray to be placed exists is judged; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed; placing a first material loading tool on a tray to be placed, and adding information of the first material loading tool into first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed; judging whether the stacking and feeding operation corresponding to the target stacking is finished or not according to the placing state of the tray to be placed; and if so, transmitting the target stacking information to the blanking mechanism so that the blanking mechanism executes stacking and blanking operation according to the target stacking information. And updating the target stacking information timely and accurately, so that the target stacking information comprises the tray information of each tray currently contained in the target stacking and the loading tool information contained in each tray, namely the target stacking information is three-dimensional information containing stacking-tray-loading tools. By constructing accurate and complete target stacking information, the accuracy of judgment of the end of feeding is improved. And the target stacking information is transmitted to the blanking mechanism, so that the blanking mechanism executes stacking blanking operation according to the target stacking information, the loading operation and the blanking operation are associated, the stacking information is shared, and the efficiency and the accuracy of the blanking operation are improved.
Example two
Fig. 3 is a flowchart of a feeding and discharging method according to a second embodiment of the present invention, and the technical solution is described in an additional way for a process of performing a stacking and discharging operation according to the target stacking information. Compared with the scheme, the scheme is specifically optimized to execute the stacking blanking operation according to the target stacking information, and comprises the following steps:
determining a tray layer to be taken in the target stacking according to the target stacking information;
acquiring second loading tool information of a second loading tool in the tray layer to be taken according to the second tray information of the tray layer to be taken;
and executing the stacking blanking operation according to the second loading tool information. Specifically, the flow chart of the loading and unloading method is shown in fig. 3:
s310, judging whether a tray to be placed exists or not; and if so, establishing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed.
S320, placing the first material loading tool to the tray to be placed, and adding the information of the first material loading tool to the first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; and the target stacking information is the stacking information of the target stacking corresponding to the tray to be placed.
S330, judging whether the stacking and feeding operation corresponding to the target stacking is finished or not according to the placing state of the tray to be placed and the target stacking information.
And S340, if so, transmitting the target stacking information to a blanking mechanism so that the blanking mechanism determines a tray layer to be taken in the target stacking according to the target stacking information.
Determining a tray layer to be taken in target stacking according to the target stacking information, wherein the tray layer to be taken can be used for judging tray information containing loading tool information in the target stacking information, and if the tray information contains the loading tool information, indicating that loading tools to be taken exist in trays of the layer. The first tray information corresponding layer meeting the condition in the tray information corresponding to the unremoved tray can be determined as the tray layer to be taken according to the placing sequence of the trays from back to front.
And S350, acquiring second loading tool information of a second loading tool in the tray layer to be taken according to the second tray information of the tray layer to be taken.
The second loading tool information is loading tool information contained in the tray information corresponding to the tray layer to be taken, and the second loading tool information is obtained by acquiring the second tray information of the tray layer to be taken.
And S360, executing the stacking blanking operation according to the second loading tool information.
And carrying out the stacking blanking operation according to the second loading tool information, wherein the position of the loading tool can be determined according to the second loading tool information, the loading tool is directly obtained at the position of the loading tool through the blanking mechanism, and the loading tool is removed from the tray one by one to carry out the stacking blanking operation.
In this embodiment, optionally, the stacking and blanking operation is executed according to the second loading tool information, and includes:
executing the tray blanking operation of the tray layer to be taken according to the second loading tool information;
judging whether the blanking operation of the tray is finished or not; if so, removing the tray of the tray layer to be taken;
judging whether the target stacking tray is completely removed or not; and if so, determining that the stacking and blanking operation is finished.
Executing tray blanking operation of the tray layer to be taken according to the second loading tool information, and judging whether the tray blanking operation is finished or not, wherein the judgment can be made whether all loading tools corresponding to the second loading tool information are removed from the tray or not; if so, the tray of the tray layer to be taken is removed to judge the next tray layer to be removed. Alternatively, if no loading tool is present in the stack of pallets, the stack of pallets may be removed directly.
And judging whether the removal of the tray in the target stacking is finished, namely judging whether all the material carrying tools in the stacking are removed, and if so, determining that the stacking and blanking operation is finished. Thereby can directly carry out pile up neatly unloading operation according to each second year material instrument information that waits to get the tray layer and correspond, exemplarily, if there is three year material instrument in the fifth layer tray in the target pile up neatly, unloading mechanism can directly confirm the position that needs carry out the unloading operation according to second year material instrument information, and directly carry out the unloading operation to three year material instrument, directly remove this layer after this layer of unloading operation execution finishes, need not all positions in the fifth layer and all carry out just to remove the tray after the unloading operation, improve the efficiency of unloading operation.
In this embodiment, optionally, the method further includes:
synchronizing the target stacking information to object information corresponding to the carried objects in the target stacking;
judging whether the carrying objects are subjected to machining operation in the stacking feeding operation and the stacking discharging operation; and if so, adding the processing information corresponding to the processing operation to the article information.
The carrying article may have an article identifier for storing article information, such as a two-dimensional code. After the carrying objects are placed in a certain layer of tray in the target stacking through the feeding operation, the target stacking information can be synchronized to the object information, so that the stacking, the tray, the carrying tool and the like where the carrying objects are located can be obtained by reading the object information.
Judging whether the carrying objects are processed or not in the stacking and feeding operation and the stacking and discharging operation; and if so, adding the processing information corresponding to the processing operation to the article information. The processing operation may be a heating process, a cutting process, and the like, which is not limited in this embodiment. If the carrier articles are subjected to the processing operation during the palletizing feeding operation and the palletizing discharging operation, the processing information corresponding to the processing operation, such as the processing start time, the processing end time, the processing technology, and the like, may be added to the article information, so that the specific information of the processing operation performed on the carrier articles may be obtained by reading the article information.
Through adding target pile up neatly information and processing information to article information, be convenient for follow-up tracing back to the delivery article, realize the management and control to last unloading operation and processing operation in the unloading process, improve the validity of unloading process.
According to the embodiment of the invention, the tray layer to be taken in the target stacking is determined according to the target stacking information; acquiring second loading tool information of a second loading tool in the tray layer to be taken according to the second tray information of the tray layer to be taken; and carrying out stacking blanking operation according to the second loading tool information. The pallet layers to be taken are directly determined, stacking blanking operation is carried out according to the second material carrying tool information, the blanking operation is carried out after whether the material carrying tools exist or not is judged layer by the blanking mechanism for the target stacking, or the object taking operation is carried out repeatedly by the blanking mechanism for the positions, where the material carrying tools can be placed, of each layer of pallet of the target stacking, and the blanking efficiency and accuracy are improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a loading and unloading device according to a third embodiment of the present invention. The device can be realized in a hardware and/or software mode, can execute the loading and unloading method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. As shown in fig. 4, the apparatus includes:
a tool information construction module 410 for judging whether a tray to be placed exists; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed;
a tool information adding module 420, configured to place the first loading tool on the tray to be placed, and add the first loading tool information to first tray information corresponding to the tray to be placed, so as to update target stacking information including the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed;
an operation execution completion judging module 430, configured to judge whether a stacking and feeding operation corresponding to the target stacking is completed according to the placement state of the tray to be placed and the target stacking information;
and an information transmitting module 440, configured to transmit the target stacking information to a blanking mechanism if the operation execution completion determining module determines that the operation execution completion determining module does not determine that the operation execution completion determining module determines that the operation execution completion determining module does not determine that the operation execution completion determining module does not perform the operation execution completion determining.
On the basis of the above technical solutions, optionally, the apparatus further includes:
the tray placing module is used for placing the current tray in the target stacking if the tool information constructing module judges whether the tray to be placed exists or not;
the initial tray judging module is used for judging whether the current tray is an initial tray or not according to the target stacking information;
and the tray information construction module is used for constructing the current tray information of the current tray and adding the current tray information to the target stacking information if the initial tray judgment module judges that the current tray information is not the target stacking information.
On the basis of the above technical solutions, optionally, the apparatus further includes:
and the stacking information constructing module is used for constructing the target stacking information according to the current tray if the initial tray judging module judges that the target stacking information is true after the initial tray judging module.
On the basis of the above technical solutions, optionally, the operation execution completion determining module includes:
a placement state judgment unit for judging whether the placement state is placement completed;
the tray layer number meeting judging unit is used for judging whether the number of the tray layers where the trays to be placed meet a preset layer number threshold value or not according to the target stacking information if the placing state judging unit judges that the tray layers meet the preset layer number threshold value;
and the operation execution completion determining unit is used for determining that the stacking and feeding operation is completed if the number of the tray layers meets the judgment result of the judging unit.
On the basis of the above technical solutions, optionally, the information transmission module includes:
a to-be-taken tray layer determining unit, configured to determine, according to the target stacking information, a to-be-taken tray layer in the target stacking;
the tool information acquisition unit is used for acquiring second loading tool information of a second loading tool in the tray layer to be taken according to the second tray information of the tray layer to be taken;
and the stacking and blanking operation executing unit is used for executing the stacking and blanking operation according to the second loading tool information.
On the basis of the above technical solutions, optionally, the stacking and blanking operation execution unit includes:
the tray blanking operation execution subunit is used for executing the tray blanking operation of the tray layer to be taken according to the second loading tool information;
the tray removing subunit is used for judging whether the tray blanking operation is finished or not; if so, removing the tray of the tray layer to be taken;
a tray removal completion judging unit configured to judge whether removal of the tray in the target stacking is completed; and if so, determining that the stacking and blanking operation is finished.
On the basis of the above technical solutions, optionally, the apparatus further includes:
the information synchronization module is used for synchronizing the target stacking information to the object information corresponding to the carried objects in the target stacking;
the information adding module is used for judging whether the carried objects are subjected to machining operation in the stacking feeding operation and the stacking discharging operation; and if so, adding the processing information corresponding to the processing operation to the article information.
Example four
FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as a loading and unloading method.
In some embodiments, the loading and unloading method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the loading and unloading method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the loading and unloading method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A loading and unloading method is characterized by comprising the following steps:
judging whether a tray to be placed exists or not; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed;
placing the first material loading tool to the tray to be placed, and adding the first material loading tool information to first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed;
judging whether the stacking and feeding operation corresponding to the target stacking is finished or not according to the placing state of the tray to be placed and the target stacking information;
and if so, transmitting the target stacking information to a blanking mechanism so that the blanking mechanism executes stacking and blanking operation according to the target stacking information.
2. The method of claim 1, after determining whether there is a tray to be placed, further comprising:
if the current tray does not exist, placing the current tray in the target stacking;
judging whether the current tray is an initial tray or not according to the target stacking information;
and if not, adding the current tray information into the target stacking information according to the current tray information of the current tray.
3. The method of claim 2, after determining whether the current tray is an initial tray according to the target palletization information, further comprising:
and if so, constructing the target stacking information according to the current tray.
4. The method according to claim 1, wherein judging whether the stacking and feeding operation corresponding to the target stacking is finished according to the placing state of the tray to be placed and the target stacking information comprises:
judging whether the placing state is placing completion;
if so, judging whether the number of layers of the tray where the tray to be placed is located meets a preset number-of-layers threshold value according to the target stacking information;
and if so, determining that the stacking and feeding operation is finished.
5. The method of claim 1, wherein performing a palletizing feed operation according to the target palletization information comprises:
determining a tray layer to be taken in the target stacking according to the target stacking information;
acquiring second loading tool information of a second loading tool in the tray layer to be taken according to the second tray information of the tray layer to be taken;
and executing the stacking blanking operation according to the second loading tool information.
6. The method of claim 5, wherein performing the palletizing blanking operation according to the second load tool information comprises:
executing the tray blanking operation of the tray layer to be taken according to the second loading tool information;
judging whether the tray blanking operation is finished or not; if so, removing the tray of the tray layer to be taken;
judging whether the target stacking tray is completely removed or not; and if so, determining that the stacking and blanking operation is finished.
7. The method of claim 1, further comprising:
synchronizing the target stacking information to object information corresponding to the carried objects in the target stacking;
judging whether the carrying objects are subjected to machining operation in the stacking feeding operation and the stacking discharging operation; and if so, adding the processing information corresponding to the processing operation to the article information.
8. The utility model provides a go up unloader which characterized in that includes:
the tool information construction module is used for judging whether a tray to be placed exists or not; if the first loading tool information exists, constructing first loading tool information of the first loading tool according to the first loading tool corresponding to the tray to be placed;
the tool information adding module is used for placing the first loading tool on the tray to be placed and adding the first loading tool information to first tray information corresponding to the tray to be placed so as to update target stacking information containing the first tray information; the target stacking information is stacking information of target stacking corresponding to the tray to be placed;
the operation execution completion judging module is used for judging whether the stacking feeding operation corresponding to the target stacking is completed or not according to the placing state of the tray to be placed and the target stacking information;
and the information transmission module is used for transmitting the target stacking information to the blanking mechanism if the operation execution completion judgment module judges that the operation execution completion judgment module is yes, so that the blanking mechanism executes stacking and blanking operations according to the target stacking information.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of loading and unloading as recited in any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to perform the method of loading and unloading as recited in any one of claims 1-7.
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